IRS Rear Cobra - Rear Wheels Have Free Play

[Horus Works]

I've got some free play in my rear wheels, when I push on them from side to side.
Looking closely I can see that my cross axis joints are shot!

Any tips for swapping these out at home?

 

[Horus Works]

Okay I'm going to tackle this problem this weekend

 

[Horus Works]

Rear axis joints done yesterday, not a difficult job

I used the kit from FTBR and it's definitely an upgrade over OEM.
Here's the steps I took recorded in a video if anyone needs help:
https://youtu.be/iCqDChxZ4rk
Now for the rest of the IRS...